1531results about "Picking devices" patented technology

A method for generating an agricultural cut-point for an agricultural item includes capturing an image of the agricultural item, generating a depth estimation of the agricultural item, segmenting the image of the agricultural item to generate a segmented image that identifies different segments of the agricultural item, detecting an agricultural feature of the agricultural item based on the image of the agricultural item, generating a two-dimensional cut-point based on the segmented image and the agricultural feature, and generating a three-dimensional cut-point based on the two-dimensional cut-point and the depth estimation of the agricultural item.

The utility model discloses a fruit picking and subpackaging device which comprises a vehicle body, a support, a guide assembly, a conveying belt, a lower fruit receiving basin, an upper fruit receiving basin and a sorting assembly, the guide assembly comprises a first telescopic cylinder and a second telescopic cylinder, and a picking mechanism and a storage mechanism are arranged at the output end of the second telescopic cylinder. A camera connected with the controller is arranged on the picking mechanism; a stirring mechanism is arranged in the upper fruit receiving basin, the sorting assembly comprises a sorting and receiving hopper assembly, the sorting and receiving hopper assembly comprises a plurality of receiving hoppers, and an electric door mechanism used for controlling fruit discharging is arranged at the discharging end of each receiving hopper; the camera, the picking mechanism and the storage mechanism which are connected with the controller are arranged, so that the picking angle of the fruit picking mechanism is convenient to observe and adjust in real time, and the falling accuracy of picked fruits is improved; a fruit receiving basin, a stirring mechanism, a sorting assembly and an electric door mechanism are arranged to assist the fruits in moving and facilitate rapid classification, packaging and placement.

The invention relates to the technical field of areca-nut picking, in particular to a flying robot system for areca-nut picking, and adopts the technical scheme that a full-autonomous areca-nut picking robot system is constructed by deeply fusing high-precision multi-source visual perception, intelligent decision planning and compliance control technologies; according to the system, a sensing scheme combining multispectral imaging and structured light three-dimensional measurement is adopted, so that the recognition rate, the positioning precision and the maturity discrimination reliability of areca nuts in a complex illumination and shielding environment are remarkably improved; an extended Kalman filtering and advanced control law-based flight attitude stabilization algorithm effectively inhibits external disturbance and provides necessary platform stability for accurate picking in dynamic flight; the picking executing mechanism with the lightweight design is combined with real-time force feedback control, lossless grabbing of fruits is achieved, and the fruit damage rate is greatly reduced; and due to an intelligent energy management and task planning strategy, the overall energy efficiency of the system is optimized, and the endurance time and the picking quantity of single operation are prolonged.

The invention discloses a green plum fruit picking robot based on multi-source data fusion and a picking method thereof, and relates to the technical field of agricultural intelligent equipment. The robot comprises a crawler-type self-adaptive chassis, a multi-degree-of-freedom mechanical arm, a multi-source sensing module, a bionic flexible end effector, an intelligent control unit and a fruit collecting box, and all the parts are electrically connected with the intelligent control unit. The multi-source sensing module synchronously collects vision, spectrum, touch, acoustics and environment data, and accurate recognition and positioning of mature fruits are achieved through hierarchical weighted attention fusion algorithm processing. And fruit damage is reduced in combination with a path planning algorithm introducing a flexible obstacle avoidance coefficient and a flexible picking execution mechanism. The self-adaptive chassis can adapt to complex terrains, and parameters are dynamically optimized through reinforcement learning in the picking process. The green plum picking machine solves the problems that traditional picking is low in efficiency and high in damage rate, and existing equipment is poor in adaptability, and the intelligent level and operation quality of green plum picking are improved.

The invention discloses intelligent fruit picking and air transportation integrated equipment and an operation method thereof.The intelligent fruit picking and air transportation integrated equipment comprises three types of multifunctional mechanical arms, the tail ends of the picking mechanical arms are integrated with image recognition and clamping mechanisms, lossless picking of fruit stems is achieved through joint cooperation and preset clamping force control, and fruits are conveyed to a temporary storage box through a special conveying pipe; the placing mechanical arm integrates a clamping mechanism and an air suction head, and empty basket placing and fruit basket placing are integrated. The lifting appliance grabbing mechanical arm integrates multiple assemblies and completes multi-task grabbing of a lifting appliance, a full fruit basket and an empty fruit basket. A magnet pole controllable design is adopted to realize lossless grabbing and releasing of the lifting appliance, the unmanned aerial vehicle autonomously plans a path based on a position sensor A / B to cooperate with ground equipment, and the supporting platform can be rotatably folded to save space; in addition, an overhanging button and a sound-light alarm are arranged to guarantee man-machine safety, all links are linked to form a full-process automatic operation closed loop, and picking and transporting efficiency and operation flexibility are remarkably improved.

The high-altitude picking tool for forestry comprises a telescopic rod, a picking device and a fruit basket, the bottom of the picking device is fixedly connected with the top of the telescopic rod, the left side of the fruit basket is fixedly connected with the top of the right side of the telescopic rod, and a collecting box is arranged at the bottom of the right side of the telescopic rod. By arranging the collecting box and the telescopic pipe, after fruits on trees are picked through the picking device and fall into the fruit basket, the fruits can flow into the first bent pipe, then are conveyed through the telescopic pipe and finally fall into the collecting box from the second bent pipe, finally, the fruits cannot be accumulated in the fruit basket, and the problem that the fruits in the air cannot be accumulated in the collecting box is solved. The problems that after fruits are picked by the picking device and fall into the fruit basket, the gravity center point of the telescopic rod is mainly concentrated on the fruit basket, so that when some fruits are accumulated in the fruit basket, a user cannot stably hold the telescopic rod, time and labor are wasted if the fruits are picked and taken, and the working efficiency is reduced are solved, and the effect of auxiliary picking and collecting is achieved.

The invention provides a flower bud and flower recognition and positioning method for a picking robot to perform zoned picking, and belongs to the technical field of picking robots. Inputting the segmented mask into a multi-scale feature fusion semantic recognition model based on hierarchical attention aggregation to perform preliminary classification of foreground flowers and background vegetation, performing a graph cut energy minimization segmentation algorithm on the preliminary segmentation mask to construct an undirected graph, and calculating a minimum cut set to obtain an accurate flower segmentation mask; key point heat map prediction is carried out on separated flower individual masks to extract flower center point coordinates and petal tip coordinates, depth image channel information is combined to calculate three-dimensional space position coordinates of each flower, and a flower three-dimensional positioning database is established for picking robot path planning; the problem of insufficient segmentation precision caused by serious overlapping of foreground flowers and background vegetation in a color space in a flower picking scene is solved.

The invention discloses a bionic fruit picking device and a using method thereof, and relates to the technical field of fruit picking equipment. The bionic fruit picking device comprises a mechanical arm assembly, a fixing frame and a supporting plate fixed to one side of the fixing frame, and further comprises a sleeve fixed to the supporting plate, a guide ring is arranged on the outer side of the sleeve, a rotating ring is installed on the outer side of the guide ring in a sliding mode, clamping pieces are arranged on the rotating ring at equal intervals, and stripping plates are hinged to the positions, between every two adjacent clamping pieces, of the rotating ring. Through mutual cooperation of a guide ring, a rotating ring, a clamping piece and a stripping plate, cooperative cooperation of multiple separation actions of pull-down, screwing and boosting in the fruit picking process is achieved, the stripping plate periodically swings towards the center of a sleeve under driving of a rack and a second gear, downward boosting force is generated on the shoulder of a fruit, and the fruit picking effect is achieved. Not only can tough fruit stems be dealt with by means of downward pulling and screwing, but also the instant fracture risk of brittle fruit stems can be overcome by means of boosting, so that the probability of fruit stem residue or peel tearing is greatly reduced.

A multi-arm robotic harvesting apparatus is provided. In another aspect, a robotic harvesting apparatus and method automatically optically locate a fruit in a tree, move and align an arm to the fruit, apply a vacuum pressure to temporarily pull the fruit against an end of the arm, rotate the arm to pick the fruit off of the tree, retract the arm and attached fruit, release the vacuum pressure to drop the fruit onto a receiving surface, and simultaneously operate another arm relative to another fruit on the same tree, while avoiding a collision between the arms. A further aspect of a mobile robotic harvesting apparatus and method applies a vacuum pressure to multiple robotically and automatically movable, fruit picking arms from a single vacuum pump, and the apparatus includes a shared optical perception system and programmable controller.

The utility model discloses a fruit picking storage device which comprises a support fixedly arranged on a vehicle body and a guide assembly adjustably arranged on the support, and the guide assembly comprises a first telescopic cylinder connected with the support and a second telescopic cylinder hinged to the output end of the first telescopic cylinder. A picking mechanism is connected to one side of the output end of the second telescopic cylinder, a storage mechanism is connected to the other side of the output end of the second telescopic cylinder, and a camera connected with the controller is arranged on the picking mechanism. When the fruit picking device is used, the picking mechanism is controlled by the camera to pick fruits, and the picked fruits directly fall into the storage mechanism. The vehicle body is arranged to move the guiding assembly, the fruit picking mechanism and the storage mechanism conveniently, the camera connected with the controller is arranged, the picking angle of the fruit picking mechanism can be observed and adjusted in real time conveniently, and the picking mechanism can pull branches and drive a single fruit to move to the feeding end of the storage mechanism. And the accuracy of the picked fruits falling into the storage mechanism is improved.

The invention discloses a robot fruit grabbing method based on a multi-mode time sequence collaborative prediction algorithm, and aims to solve the problems that the short-time future trajectory is difficult to accurately predict and the grabbing opportunity is difficult to determine due to fruit and branch swinging caused by wind, branch elasticity and platform advancing. According to the method, a multi-modal time sequence is unified through micro-time alignment, uncertainty is quantified, a three-dimensional special Euclidean group and other variable graph converters are constructed, a spiral shaft constraint projection layer is arranged on the edge between the fruit and a fruit stem, and conditional diffusion short-time trajectory prediction of plum algebra parameterization and uncertainty gating triggering are combined; motion planning and closed-loop control of time delay compensation and collision avoidance constraint are executed in a linkage mode, and the technical effects of high-precision short-time three-dimensional pose prediction, grabbing opportunity self-adaptive triggering and high-success-rate stable grabbing are achieved.

The invention provides a method for identifying and picking flat peaches in a growth period in a natural orchard environment, and belongs to the technical field of computer vision and intelligent agriculture. The problems that branches and leaves in a natural orchard are seriously shielded, characteristics of flat peaches in different growth periods are different, identification is difficult, and positioning accuracy is low are solved. In order to solve the problem, the invention constructs an identification model OGD-Net for the growth period of the flat peach in the natural orchard environment; the method comprises the following steps: firstly, enhancing data through Cutout, and improving the detection robustness of a model under the shielding of branches and leaves; lightweight context is introduced into the backbone network to guide down-sampling and gate control frequency domain dynamic convolution, and perception of texture and color is enhanced while the calculation amount is reduced; an orchard adaptive feature fusion pyramid is designed, and a space-channel dual attention mechanism is combined, so that the positioning error is effectively reduced; the detection head introduces space to enhance attention, and the attention degree of a key area is improved. Precise recognition and center point positioning of the flat peach growing period are achieved, automatic operation from recognition to picking is achieved in combination with coordinate transformation and mechanical arm control, and the picking success rate is remarkably increased.

A picking robot, a fruit positioning method and apparatus therefor, an electronic device, and a medium are provided. The robot includes a robot body including a processor and a plurality of robotic arms. A plurality of first image collection modules and one second image collection module are mounted on the robot body. Each robotic arm has one corresponding first image collection module mounted nearby. Each first image collection module does not interfere with the corresponding robotic arm. The second image collection module is mounted at a position of a base of the robot body. The processor is configured to determine, based on fruit tree images of respective sub-areas in an operation area that are collected by respective first image collection modules and the base coordinate system, global fruit positioning distribution information of the operation area, and control the robotic arms to perform collaborative operation.

The utility model relates to a crown cutter mechanism of an electric tea harvesting vehicle. The tree crown cutting mechanism is characterized in that the tree crown cutting mechanism is installed on a transverse support of the harvesting vehicle, the transverse support comprises single-lug bulb pieces, transverse support square steel and a vehicle body width adjusting mechanism, and the transverse support square steel is connected with a supporting plate arranged on the side face of a lower flange of a steering wheel support steering mechanism through the single-lug bulb pieces on the two sides; the vehicle body width adjusting mechanism is arranged on the transverse support square steel and divides the transverse support square steel into two sections of telescopic structures. When a first motor rotates, a first cylindrical cam mechanism is driven by a coupler to rotate, and a first grooved cam on an upper cutter driving rod and a first grooved cam on a lower cutter driving rod horizontally reciprocate along grooves of the cylindrical cams. The upper cutting knife driving rod and the lower cutting knife driving rod drive the upper cutting knife and the lower cutting knife to do opposite reciprocating motion to cut tea leaves; the structure is ingenious, the stability is high, and the harvesting operation efficiency can be greatly improved.

The invention provides a cold region greenhouse multispectral visual positioning picking method and system. The method comprises the following steps: synchronously acquiring an RGB image, an NIR image, greenhouse environment temperature and humidity data and depth information of a target; based on the RGB image, the NIR image and the environment data, image correction is carried out through an image correction network, and a sharpened RGB image is output; inputting the corrected RGB image, NIR image and depth image into a maturity identification model for processing, and outputting the maturity grade and three-dimensional space coordinates of the fruit; based on the three-dimensional coordinates and maturity information of the fruits and a pre-constructed environment three-dimensional point cloud map, a collision-free optimal picking path is planned for a mechanical arm; the mechanical arm is controlled to execute the picking action, the success rate of the picking result and the recognition confidence coefficient serve as feedback signals, and online fine adjustment is conducted on parameters of the image correction network and the maturity recognition model; the problems of low picking efficiency, low precision and high damage rate of the greenhouse in the cold region are solved.

The invention relates to the technical field of mechanical picking, and discloses a shaking and vibrating harvesting device which comprises a walking mechanism and a rack, and a power unit, a speed control system, an amplitude adjusting system, an output mechanism and an executing mechanism are arranged on the rack; the amplitude adjusting system comprises a supporting bearing seat, an input chain wheel, a power transmission shaft, a spacing output disc and a rope connecting wheel, and the power transmission shaft is arranged on the supporting bearing seat; an input chain wheel and a spacing output disc are arranged at the two ends of the power transmission shaft, and the rope connecting wheel is detachably arranged on the spacing output disc; power output by the power unit is transmitted to an input chain wheel of the amplitude adjusting system through the speed control system; the amplitude adjusting system corresponds to the output mechanism in position, and the executing mechanism is connected to a rope connecting wheel of the amplitude adjusting system and is output after passing through the output mechanism. The walnut harvester is suitable for complex mountain terrains, the shaking vibration amplitude can be adjusted, and the walnut harvesting efficiency is greatly improved.

The invention discloses a self-adaptive apple maturity lossless picking flexible claw and a picking method. The device comprises a base assembly, and a visual recognition module, a flexible clamping jaw assembly, a distributed pressure sensing module, a transmission execution module and a control unit are integrated on the base assembly. And the visual module adopts a depth camera and a YOLO11n model, judges the maturity grade in real time based on the apple red area proportion and is matched with the corresponding grabbing threshold force. The pressure sensing module is a thin film pressure sensor, and multi-point pressure feedback is achieved through a plurality of pressure detection points. The transmission module adopts a single motor to drive a lead screw nut lifting table, opening and closing of clamping jaws are synchronously controlled, the structure is light and simple, and cost is low. The picking method follows the process of recognition, matching, force control and picking, a cutter is not needed, lossless and high-success-rate self-adaptive picking is achieved, the problem of damage or failure caused by traditional fixed force control is effectively solved, the method is suitable for dense orchards, and the intelligent and lossless levels of apple picking are improved. The control unit is low in response delay and small in overshoot, and it is ensured that the grabbing force is accurately matched with the fruit state.

The utility model relates to the technical field of agricultural machinery, and provides a forest fruit picking and collecting all-in-one machine which comprises a machine body, a collecting mechanism, a vibrating mechanism and a material conveying mechanism, the collecting mechanism and the vibrating mechanism are both connected with the machine body, the collecting mechanism has a first unfolding state and a first folding state, and when the collecting mechanism is in the first folding state, the collecting mechanism is unfolded. The collecting mechanism is used for collecting the forest fruits which are vibrated off, the vibrating mechanism is arranged below the collecting mechanism, the vibrating mechanism comprises a vibrating machine and a clamping assembly, the clamping assembly is connected with the vibrating machine, the clamping assembly has a second unfolding state and a second folding state, and when the clamping assembly is in the second folding state, the clamping assembly is used for clamping tree trunks and vibrating off the forest fruits; and the conveying mechanism is used for outputting the forest fruits collected by the collecting mechanism. According to the forest fruit picking device, a traditional picking mode is changed, integrated operation of forest fruit picking, collecting and conveying is achieved, the picking efficiency is improved, and damage to tree trunks is reduced.

The invention provides an anti-damage rosa roxburghii tratt fruit picking machine system, and relates to the technical field of rosa roxburghii tratt fruit picking, the anti-damage rosa roxburghii tratt fruit picking machine system comprises a picking installation part, three arc-shaped picking pieces are mounted on the driving device; the arc-shaped picking part is used for picking rosa roxburghii tratt; a pressure regulating piece is mounted on the picking mounting piece; a handheld limiting piece is mounted on the picking mounting piece; the handheld limiting piece is used for limiting inclined use; by adopting the picking mounting part, when a user picks roxburgh roses, the roxburgh roses can be conveniently borne below the arc picking part through an existing net bag, and the roxburgh roses can be prevented from falling to the ground; the problems that an existing rosa roxburghii tratt fruit picking machine system is poor in rosa roxburghii tratt fruit picking protection performance, and it is inconvenient to prompt a user to receive rosa roxburghii tratt fruits are solved.

The invention provides a flexible variable-position three-finger picking actuator. The flexible variable-position three-finger picking actuator comprises a grabbing driving assembly, a passive finger assembly, a variable-position driving assembly and a fixed rack assembly. The grabbing driving assembly, the driven finger assembly and the displacement driving assembly are all arranged on the fixed rack assembly. The passive finger assembly comprises a finger bottom structure and a finger mechanism which are connected with each other, the finger bottom structure is movably connected to the fixed rack assembly, and the grabbing driving assembly is connected with the finger mechanism and can drive the finger mechanism to move, so that the passive finger assembly achieves the grabbing function; the displacement driving assembly is used for driving the finger bottom structure to rotate around the fixed rack assembly and driving the finger mechanism to change the position relative to the fixed rack assembly, and the grabbing posture of the passive finger assembly is changed. The finger displacement design ensures the flexibility of the picking actuator under the condition of less degree of freedom, the adaptive flexible assembly realizes the adaptability to fruits in different growth states, and the requirement on the pose of the actuator and the cost of the actuator in the picking process are reduced.

The present application relates to the technical field of pepper harvesting machine, and discloses a self-propelled pepper harvesting machine, which comprises a pepper harvesting assembly installed at the front end of a self-propelled vehicle through a mounting frame, the pepper harvesting assembly comprises a spoke rotating frame rotatably connected to the inner wall of the mounting frame, a plurality of groups of pepper harvesting tooth pieces movably connected at equal intervals between the left and right spoke rotating frames, and an eccentric assembly connected to the right spoke rotating frame, when the spoke rotating frame drives the pepper harvesting tooth pieces to rotate, the eccentric assembly is used to ensure that the pepper harvesting tooth pieces are in a horizontal state; the eccentric assembly of the present application ensures that the pepper harvesting tooth pieces are always in a horizontal state during rotation, and adjacent first tooth pieces and second tooth pieces can accurately pick peppers from the plants, avoiding the situation that the pepper fruits cannot be successfully picked from the pepper plants due to the inclination of the tooth pieces. The pitch of the pepper harvesting tooth pieces can be easily adjusted through the buckle assembly, the adjustment range is 0.5-5 cm, and the picking demand of different varieties of peppers can be met.

The application discloses a kind of grab shear twist integrated fruit and vegetable picking executor, including cylindrical shell, the axial direction of cylindrical shell is the direction to the fruit and vegetable to be picked, to the direction of fruit and vegetable to be picked as front direction;Cylindrical shell rear end is closed and front end is equipped with opening;Cylindrical shell is equipped with axial motion mechanism in middle rear part, and cylindrical shell is equipped with circumferential motion mechanism matched with axial motion mechanism in middle front part;Axial motion mechanism is used to drive upper clamp jaw and lower clamp jaw to fold or open by upper connecting rod hinged mechanism and lower upper connecting rod hinged mechanism;Circumferential motion mechanism is used to drive upper clamp jaw and lower clamp jaw to make rotary motion to break off the part that still exists possibly connected after twisting off cutting action under the drive of circumferential motion mechanism;The folding action of upper clamp jaw and lower clamp jaw is the grabbing action of fruit and vegetable, the action of blade insertion blade slot is cutting action, and grabbing action and cutting action are two-in-one synchronous action.The application also discloses corresponding use method.The application carries out integrated operation by grabbing, shearing and twisting off, and improves cutting effect by the cooperation of blade slot and blade, improves twisting off effect by executing twisting off action when strong tension is applied on fruit stem, improves picking effect and picking efficiency and picking success rate, avoids subsequent trouble caused by unsuccessful picking once.

A mobile hop harvester including a tilt-able cutting tower that can be lowered to move into the hop yard, and then raised to the full height of a trellis to top and bottom cut, and segment hop bines. The segmented bines fall through the tilted cutting tower and are moved upward and reward on a bine conveyor into a picking array that includes parallel series of rotating top retarders positioned over a parallel series of bottom picker fingers, each mounted on parallel spools or rollers, moving the cones, bines and debris forward through the processor at a downward incline, keeping the residual bines, leaves, twine, and debris engaged for ejection from the front or towed end of the processor, while allowing the hop cones to fall onto a cone conveyor upward out the rear of the processor for collection into a bin or the bed of a tending truck.

The invention discloses a human-computer interaction control method for a pepper picking robot, and relates to the technical field of agricultural intellectualization, and the method comprises the steps: S1, collecting pepper image data through a sensor, carrying out the preliminary grade integration after the fusion threshold updating of an image through a convolutional neural network, and carrying out the calculation of a first grade; the obtained multi-dimensional parameters comprise color shapes and defect features so as to detect light change; s2, comparing the extracted multi-dimensional parameters with a preset threshold value, if the color uniformity is lower than the threshold value, marking the color as a defect item, and determining a preliminary quality grade through a self-adaptive correction mechanism; according to the human-computer interaction control method of the pepper picking robot, through multi-algorithm fusion and a dynamic adaptation mechanism, the pepper quality detection precision and picking efficiency in a complex environment are remarkably improved, and intelligent and automatic picking decision making is achieved.

The embodiment of the invention provides a pneumatic conveying system and method for a cotton picker. According to the method, the motor rotating speed of a picking head motor is set in a controller, a picking head is controlled to collect cotton through the set motor rotating speed, the fan rotating speed of a fan is set through the controller according to the quality of the collected cotton, and the fan conveys generated air to a three-way pipe through a fan manifold; the three-way pipe distributes generated air into air output to the picking head and air output to the folding air cylinder, collected cotton is blown into the folding air cylinder through the air output to the picking head, cotton in the folding air cylinder is blown into the cotton collecting box through the air output to the folding air cylinder, and the air speed of the draught fan is dynamically adjusted through the quality of the collected cotton. And the risk that blockage and fire cannot be prevented in time is avoided.

The invention relates to the technical field of agricultural robots, and discloses a shearing mechanism and a fruit picking end effector, the shearing mechanism comprises a mounting seat, a bionic structure, a shear assembly and a first driving assembly; the bionic structure comprises a plurality of bionic fingers which are mounted on the mounting seat at intervals, and connecting brackets are mounted on the bionic fingers; the scissor assemblies are installed between every two adjacent bionic fingers, each scissor assembly comprises a fixed blade, a movable blade and an elastic piece, the fixed blades are fixed to the connecting support, the middles of the movable blades are hinged to the middles of the fixed blades, and the elastic pieces are installed between the fixed blades and the movable blades; the first driving assembly is used for driving the movable blade to rotate relative to the fixed blade. According to the fruit picking device, the bionic structure is matched with the active shearing mode, the fruit stem can be easily sheared, and therefore the fruit picking efficiency is improved.

The invention discloses an under-actuated rigid-flexible coupling apple picking end effector, and belongs to the technical field of agricultural automation. The under-actuated rigid-flexible coupling apple picking end effector comprises a clamping mechanism, the clamping mechanism comprises three fingers which are evenly distributed at 120 degrees, a finger fixing base and a flexible suction cup, and each finger comprises a bottom knuckle, a middle knuckle and a tail knuckle which are sequentially hinged; the surface of the bottom knuckle, the surface of the middle knuckle and the surface of the tail knuckle are covered with first flexible silica gel, second flexible silica gel and third flexible silica gel respectively. The pressure sensors and the infrared sensor are electrically connected with the controller, the infrared sensor is arranged in the center of the bottom of the flexible suction cup, the controller controls the transmission mechanism to start and stop through feedback signals of the pressure sensors, when the pressure sensors located on the tail knuckle reach a preset threshold value, the corresponding transmission mechanism stops, and self-adaptive envelope grabbing is achieved.

The application provides a pepper picking device with elastic teeth with regular changes in elastic tooth spacing, comprising a middle shaft, a plurality of linear guides surrounding the middle shaft, a plurality of groups of elastic tooth seats and elastic teeth arranged on the linear guides, a plurality of telescopic mechanisms, a plurality of push rods, and a pair of cylindrical cams. During rotation of the middle shaft, the telescopic mechanisms are driven to telescope at a predetermined regularity by cooperation of the push rods and the cylindrical cams, thereby driving the groups of elastic tooth seats and elastic teeth to change in spacing at a predetermined regularity, so that the groups of elastic teeth can clamp and then release the pepper fruits during travel of the picking vehicle, thereby simulating the process of picking peppers by human fingers. This not only reduces the labor intensity of workers, greatly improves picking efficiency, and saves labor and time costs, but also effectively avoids various problems such as missing picking of pepper fruits due to excessively large elastic tooth spacing, and unstable picking of pepper fruits due to insufficient elastic tooth clamping force and friction, thereby improving the net picking rate and the non-damage rate of pepper mechanized picking.

This invention provides a multifunctional adaptive watermelon harvesting robot, including a vehicle body, a recognition and positioning module, and a telescopic push-pull module. The vehicle body is used for position movement; the recognition and positioning module is located at the end of the vehicle body for locating the watermelon's position; the telescopic push-pull module is also located at the end of the vehicle body and includes an upper shovel assembly and a lower shovel assembly. The lower shovel assembly can extend to the ground to scoop up the watermelon, and the upper shovel assembly can move to cut the watermelon vines that have been scooped into it. This invention uses the recognition and positioning module for coarse positioning, combined with the lower shovel assembly to scoop up the watermelon close to the ground, eliminating the need for a lengthy precise positioning process. It can quickly grab the watermelon, and then the upper shovel assembly moves downward to close and cut the vines with the lower shovel assembly. This eliminates the need to search for the vines, quickly removes the vines, ensures the safety of the watermelon, maintains the integrity of the watermelon during harvesting, reduces operation time, and effectively improves the efficiency of watermelon harvesting.